Abstraction of paths: mapping from time to configuration space. More...
#include <hpp/core/path.hh>
Public Member Functions | |
Configuration_t | operator() (const value_type &t) const throw () |
Configuration_t | operator() (const value_type &t, bool &success) const throw () |
bool | operator() (ConfigurationOut_t result, const value_type &t) const throw () |
size_type | outputSize () const |
Get size of configuration space. More... | |
size_type | outputDerivativeSize () const |
Get size of velocity. More... | |
const interval_t & | timeRange () const |
Get interval of definition. More... | |
value_type | length () const |
Get length of definition interval. More... | |
virtual Configuration_t | initial () const =0 |
Get the initial configuration. More... | |
virtual Configuration_t | end () const =0 |
Get the final configuration. More... | |
Construction, destruction, copy | |
virtual | ~Path () throw () |
Destructor. More... | |
virtual PathPtr_t | copy () const =0 |
Return a shared pointer to a copy of this. More... | |
template<class T > | |
boost::shared_ptr< T > | as (void) |
Static cast into a derived type. More... | |
template<class T > | |
boost::shared_ptr< const T > | as (void) const |
Static cast into a derived type. More... | |
virtual PathPtr_t | extract (const interval_t &subInterval) const |
Extraction/Reversion of a sub-path. More... | |
virtual PathPtr_t | reverse () const |
Reversion of a path. More... | |
Constraints | |
const ConstraintSetPtr_t & | constraints () const |
Get constraints the path is subject to. More... | |
void | constraints (const ConstraintSetPtr_t &constraints) |
Set constraints the path is subject to. More... | |
Protected Member Functions | |
virtual std::ostream & | print (std::ostream &os) const =0 |
Print path in a stream. More... | |
Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize) | |
Constructor. More... | |
Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints) | |
Constructor. More... | |
Path (const Path &path) | |
Copy constructor. More... | |
void | init (const PathPtr_t &self) |
Store weak pointer to itself. More... | |
virtual bool | impl_compute (ConfigurationOut_t configuration, value_type t) const =0 |
Function evaluation. More... | |
Protected Attributes | |
interval_t | timeRange_ |
Interval of definition. More... | |
Friends | |
std::ostream & | operator<< (std::ostream &os, const Path &path) |
Abstraction of paths: mapping from time to configuration space.
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inlinevirtual |
Destructor.
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inlineprotected |
Constructor.
interval | interval of definition of the path, |
outputSize | size of the output configuration, |
outputDerivativeSize | number of degrees of freedom of the underlying robot |
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inlineprotected |
Constructor.
interval | interval of definition of the path, |
outputSize | size of the output configuration, |
outputDerivativeSize | number of degrees of freedom of the underlying robot |
constraints | constraints the set is subject to, constraints are solved at each evaluation of the output configuration. |
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inlineprotected |
Copy constructor.
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inline |
Static cast into a derived type.
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inline |
Static cast into a derived type.
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inline |
Get constraints the path is subject to.
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inline |
Set constraints the path is subject to.
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pure virtual |
Return a shared pointer to a copy of this.
Implemented in hpp::core::pathOptimization::PartialSplinePath, hpp::core::StraightPath, and hpp::core::PathVector.
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pure virtual |
Get the final configuration.
Implemented in hpp::core::StraightPath, and hpp::core::PathVector.
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virtual |
Extraction/Reversion of a sub-path.
subInterval | interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed. |
Reimplemented in hpp::core::PathVector, and hpp::core::StraightPath.
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protectedpure virtual |
Function evaluation.
Implemented in hpp::core::PathVector, hpp::core::StraightPath, and hpp::core::pathOptimization::PartialSplinePath.
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inlineprotected |
Store weak pointer to itself.
should be called at construction of derived class instances
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pure virtual |
Get the initial configuration.
Implemented in hpp::core::StraightPath, and hpp::core::PathVector.
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inline |
Get length of definition interval.
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inline |
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inline |
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inline |
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inline |
Get size of velocity.
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inline |
Get size of configuration space.
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protectedpure virtual |
Print path in a stream.
Implemented in hpp::core::StraightPath, hpp::core::PathVector, and hpp::core::pathOptimization::PartialSplinePath.
Referenced by hpp::core::operator<<().
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virtual |
Reversion of a path.
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inline |
Get interval of definition.
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friend |
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protected |
Interval of definition.
Referenced by hpp::core::PathVector::PathVector().